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Global tracking for robot manipulators using a simple causal PD controller plus feedforward
| Content Provider | Scilit |
|---|---|
| Author | Nunes, Eduardo V. L. Hsu, Liu |
| Copyright Year | 2009 |
| Description | SUMMARY This paper shows that a well-known causal PD controller plus feedforward solves the global output feedback tracking control problem of robot manipulators, by requiring only the existence of the robot natural damping, no matter how small. To this end, we first demonstrate that a robot controlled by a causal PD is globally input-to-state stable (ISS) with respect to a bounded input disturbance. Then, we prove that the addition of a feedforward compensation renders the error system uniformly globally asymptotically stable. Furthermore, we present a possible extension to more general nonlinear systems and also to uncertain systems. |
| Related Links | https://www.cambridge.org/core/services/aop-cambridge-core/content/view/8C1089D87D0F818C80C7FB987755A19E/S0263574709005529a.pdf/div-class-title-global-tracking-for-robot-manipulators-using-a-simple-causal-pd-controller-plus-feedforward-div.pdf |
| Ending Page | 34 |
| Page Count | 12 |
| Starting Page | 23 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574709005529 |
| Journal | Robotica |
| Issue Number | 1 |
| Volume Number | 28 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2010-01-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Automotive Engineering Robot Manipulators Output Feedback Global Tracking state Stability Pd Control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
